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Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Recent advances in humanoid robotics and embodied intelligence have enabled robots to perform increasingly complex manipulation tasks. However, musical instrument performance remains a formidable benchmark, demanding not only collision-free trajectory execution but also precise contact timing, asymmetric bimanual coordination, and target acoustic outcomes on physical instruments. The guqin, a seven-string fretless zither, presents unique manipulation challenges due to its millimetric string spacing, transient right-hand plucking, and sustained left-hand harmonic contacts. In this work, we pres

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